ArVizDrawerMapBuilder.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/services/tasks/RunningTask.h>
 
#include <RobotAPI/components/ArViz/Client/ScopedClient.h>
 
namespace cartographer::mapping
{
    class MapBuilderInterface;
} // namespace cartographer::mapping
 
namespace armarx::localization_and_mapping::cartographer_adapter
{
 
    /**
     * @brief The ArVizDrawerMapBuilder class.
     *
     * Draws
     *  - the pose graph
     *  - the occupancy grid map
     *  - the frames (global & map)
     */
    class ArVizDrawerMapBuilder // : public armarx::viz::ScopedClient
    {
 
    public:
        ArVizDrawerMapBuilder(armarx::viz::Client& arviz,
                              ::cartographer::mapping::MapBuilderInterface& mapBuilder,
                              const Eigen::Isometry3f& world_T_map);
        ~ArVizDrawerMapBuilder();
 
        // Call this method for periodic map visualization.
        // Internally, it starts a periodic task for the drawOnce method.
        void startMappingVisu();
 
        // Call this method if you only want to visualize, e.g., a recorded map once
        void drawOnce();
 
    private:
        void run();
 
        armarx::viz::Client& arviz;
 
        void drawOptimizedPoseGraph();
        void drawGridMap();
        void drawFrames();
 
        ::cartographer::mapping::MapBuilderInterface& mapBuilder;
 
        RunningTask<ArVizDrawerMapBuilder>::pointer_type runningTask;
 
        const Eigen::Isometry3f world_T_map;
    };
 
 
} // namespace armarx::localization_and_mapping::cartographer_adapter